Kinect explore.launch failed again in Husky A200

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Hi,

I had previously made explore and human tracking work well with Husky A200. However, recently when I tried to do the same again today it did not work. I tried several things to repair this but none of them worked.

Here are some more details: 1) I am using Ubuntu 12.04 with fuerte 2) I am using the openni_camera_deprecated package in the launch file. 3) I have also remapped the vel topic to /husky/cmd_vel

Here's the Launch file:

<launch>

<arg name="robot_name" default="default"/>

<group ns="clearpath">

<group ns="robots/$(arg robot_name)">  

  <!-- HUSKY -->
  <include file="$(find husky_bringup)/minimal.launch" />

  <!-- KINECT -->
  <arg name="debug" default="false"/>
  <arg if="$(arg debug)" name="launch_prefix" value="xterm -rv -e gdb -ex run -args"/>
  <arg unless="$(arg debug)" name="launch_prefix" value=""/>
  <node pkg="openni_camera" type="openni_node" name="openni_node1" output="screen" launch-prefix="$(arg launch_prefix)">
    <param name="device_id" value="#1"/> <!-- this line uses first enumerated device -->
    <rosparam command="load" file="$(find openni_camera_deprecated)/info/openni_params.yaml" />
    <param name="rgb_frame_id" value="/openni_rgb_optical_frame" />
    <param name="depth_frame_id" value="/openni_depth_optical_frame" />
    <param name="use_indices" value="false" />
    <param name="depth_registration" value="true" />
    <param name="image_mode" value="2" />
    <param name="depth_mode" value="2" />
    <param name="debayering" value="2" />
    <param name="depth_time_offset" value="0" />
    <param name="image_time_offset" value="0" />
  </node>
  <include file="$(find openni_camera_deprecated)/launch/kinect_frames.launch"/>

  <!-- SKIM CLOUD -->
  <node pkg="clearpath_tools" type="SkimImage" name="skim1" >
    <param name="in"                value="camera/rgb/points" />
    <param name="out"               value="camera/points/skim" />
    <param name="skim_factor"       value="2" />
  </node>

  <!-- PASSTHROUGH -->
  <node pkg="clearpath_tools" type="Passthrough" name="passthrough1" >
    <param name="in"                value="camera/points/skim" />
    <param name="out"               value="camera/points/passthrough" />
    <param name="dist"              value="4.0" />
  </node>

  <!-- EXPLORE DEMO -->
  <node pkg="clearpath_kinect_demo" type="ClearpathDemoExplore" name="ClearpathDemoExplore1" output="screen">
    <param name="in" value="camera/points/passthrough" />
    <param name="out" value="camera/points/visualization" />
    <param name="out_vel" value="husky/cmd_vel" />
    <param name="angular_vel_correction" value="2" />
    <param name="lin_speed" value="0.3" />
    <param name="ang_speed" value="0.3" />
    <param name="cam_height" value="0.55" />
    <param name="cam_z_trans" value="0.35" />
    <param name="wall_buffer" value="0.6" />
    <param name="random_walk" value="0" />
    <param name="publish_visualization" value="1" />
  </node>

</group> <!-- end of robot group -->

</group>

</launch>

I used rxgraph to verify the topic links and I found a strange thing. It is that I already have a topic

/husky/cmd_vel sending data to /husky/clearpath_base node

running from clearpath services. However after I launch explore.launch file I see that a completely new topic is initiated

/clearpath/robots/default/husky/cmd_vel sending data to /clearpath/robots/default/husky/clearpath_base

I believe this is an issue that has got something to do with the namespaces provided in the launch file.

Here are some of the unwanted topics listed in rostopic list which already exists outside the namespace /clearpath/robots/default

/clearpath/robots/default/camera/points/passthrough

/clearpath/robots/default/camera/points/skim /clearpath/robots/default/camera/points/visualization /clearpath/robots/default/camera/rgb/points /clearpath/robots/default/depth/camera_info /clearpath/robots/default/depth/image_raw /clearpath/robots/default/depth/image_raw/compressed ... (more)